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Most, if not all, state high school leagues have a handbook that covers down on policies and procedures regarding all of their sports and other activities. In it, there's usually a section about sportsmanship, and what constitutes violations. If a school allows their pitchers to warm up from the game's pitchers plate, but won't allow the opposing team to do so, that would be a problem that is covered under the state sportsmanship rule or policy.
But if both teams' pitchers are allowed to do so, what's the big deal? The teams do their pregame drills on the actual field, so why can't the pitchers warm up from the actual plate?
So in answer, there is no rule preventing them from doing so. As long as both teams are afforded that opportunity, it's a non-issue.
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"Let's face it. Umpiring is not an easy or happy way to make a living. In the abuse they suffer, and the pay they get for it, you see an imbalance that can only be explained by their need to stay close to a game they can't resist." -- Bob Uecker
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